PUB - Publikationen an der Universität Bielefeld

We present a perception-driven pipeline that converts a mapped environment into a simulation-ready digital twin by incrementally enriching the robot’s internal world state representation in the Entity Component World Model (ECWM), reconstructing object assets with SAM 3D, and exporting scenes to MuJoCo ROS, yielding consistent parallel testing, planning, and behavior validation. The resulting simulated scene can be used for action validation, manipulationfeasibility checks, motion prediction, and what-if reasoning, supporting robust decision making in dynamic environments such as RoboCup@Home scenarios.